CN105922252A - Mechanical arm device - Google Patents

Mechanical arm device Download PDF

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Publication number
CN105922252A
CN105922252A CN201610471289.4A CN201610471289A CN105922252A CN 105922252 A CN105922252 A CN 105922252A CN 201610471289 A CN201610471289 A CN 201610471289A CN 105922252 A CN105922252 A CN 105922252A
Authority
CN
China
Prior art keywords
electric cylinder
mechanical arm
arm device
connecting plate
installing plate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610471289.4A
Other languages
Chinese (zh)
Inventor
呼茹爽
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tianjin Zhongdian Daren Intelligent Technology Co Ltd
Original Assignee
Tianjin Zhongdian Daren Intelligent Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tianjin Zhongdian Daren Intelligent Technology Co Ltd filed Critical Tianjin Zhongdian Daren Intelligent Technology Co Ltd
Priority to CN201610471289.4A priority Critical patent/CN105922252A/en
Publication of CN105922252A publication Critical patent/CN105922252A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/123Linear actuators

Abstract

The invention provides a mechanical arm device. The mechanical arm device comprises a first speed changer, a first transmission shaft, a first electric cylinder, a positioning end, a second speed changer, a second transmission shaft, a second electric cylinder, an installing plate, a follow-up connecting plate and a vertical pushing table. One end of the installing plate is connected with the positioning end used for controlling the horizontal moving direction. The other end of the installing plate is connected with the follow-up and limiting follow-up connecting plate, and the other end of the follow-up connecting plate is fixed to the vertical pushing table. The positioning end is connected with the first electric cylinder providing power in the horizontal moving direction. The first electric cylinder is connected with the first speed changer and the first transmission shaft. According to the mechanical arm device, the first electric cylinder controls the installing plate to horizontally reciprocate, the second electric cylinder controls the vertical pushing table to vertically reciprocate so as to control the follow-up control plate to control the oblique angle of the installing plate, and the position and the angle of the installing plate can be accurately controlled through the two sets of power devices.

Description

A kind of mechanical arm device
Technical field
The invention belongs to intelligent robot equipment manufacturing technology field, especially relates to a kind of mechanical hand Arm assembly.
Background technology
In prior art, various mechanical arms are widely used in its operating flexibility and positioning accurate parasexuality In different manufacturings, along with mechanical arm application is more and more extensive, the weight of operation thing is increasing, Each load performing system all can increase in various degree, and meanwhile, the mobile range of each mechanism is the most corresponding Increasing, existing mechanical arm the most often occurs that bad stability and propelling movement direction scope are little Etc. problem, improve further and perfect accordingly, it would be desirable to existing mechanical arm is made.
Summary of the invention
In view of this, the invention is directed to a kind of mechanical arm device, to provide a kind of structure letter Single, the propelling movement Intelligent arm that direction is the most adjustable and versatility is stronger.
For reaching above-mentioned purpose, the technical scheme of the invention is achieved in that
A kind of mechanical arm device, wherein, including the first variator, the first power transmission shaft, the first electric cylinder, Location termination, the second variator, second driving shaft, the second electric cylinder, installing plate, servo-actuated connecting plate and Vertically push platform;
One end of installing plate be used for controlling termination, location, horizontal movement direction being connected, the other end of installing plate Being connected with servo-actuated and spacing servo-actuated connecting plate, the other end of described servo-actuated connecting plate is fixed on vertical propelling movement Platform;
Termination, location moves horizontally the first electric cylinder of direction power with offer and is connected, the first electric cylinder and the One variator and the first power transmission shaft connect;
The vertical bottom pushing platform is connected with providing the second electric cylinder vertically moving direction power, the second electricity Dynamic cylinder and the second variator and second driving shaft connect.
Further, described tuning mouth and servo-actuated connecting plate are provided with pressure transducer.
Further, termination, described location is additionally provided with the tool fixed mount for installing auxiliary fixture.
Further, described tool fixed mount is connected by chute with termination, location.
Further, described vertical propelling movement platform is provided with the passage that material passes through, one end of described passage with Pan feeding end plate connection, the other end of described passage is connected with installing plate by material strip.
Further, control unit and memory element are also included;
Further, described first variator is additionally provided with tuning connecting plate.
Described control unit signal is connected to the first electric cylinder and the second electric cylinder for controlling its start and stop;
Described memory cell signal is connected to control unit and stores its location parameter and pressure parameter.
Relative to prior art, a kind of mechanical arm device described in the invention, the first electric cylinder control Installing plate horizontal reciprocating movement processed, the second electric cylinder controls vertical propelling movement platform up-and-down movement and then control Servo-actuated connecting plate controls the angle of inclination of installing plate, and two set power set can accurately control the position of installing plate And angle, control accuracy is high, load weight is big, and this one mechanical arm device has simple in construction, one-tenth The advantages such as this is low, highly reliable.
Accompanying drawing explanation
The accompanying drawing of the part constituting the invention is used for providing being further appreciated by the invention, The schematic description and description of the invention is used for explaining the invention, is not intended that this The improper restriction of bright creation.In the accompanying drawings:
Fig. 1 is the schematic diagram of a kind of mechanical arm device described in the invention embodiment.
Description of reference numerals:
10-the first variator;11-the first power transmission shaft;12-tuning connecting plate;13-the first electric cylinder;14- Termination, location;15-tool fixed mount;16-tuning mouth;20-the second variator;21-second driving shaft; 22-the second electric cylinder;30-installing plate;The servo-actuated connecting plate of 31-;32-vertically pushes platform;33-feeding end Plate.
Detailed description of the invention
It should be noted that in the case of not conflicting, in embodiment in the invention and embodiment Feature can be mutually combined.
In the description of the invention, it is to be understood that term " " center ", " longitudinally ", " horizontal stroke To ", " on ", D score, "front", "rear", "left", "right", " vertically ", " water Flat ", the orientation that indicates of " top ", " end ", " interior ", " outward " etc. or position relationship be based on attached Orientation shown in figure or position relationship, be for only for ease of description the invention and simplify description, and not Be instruction or the hint device of indication or element must have specific orientation, with specific azimuth configuration and Operation, therefore it is not intended that restriction to the invention.Additionally, term " first ", " second " Etc. being only used for describing purpose, and it is not intended that instruction or hint relative importance or implicit indicate indication The quantity of the technical characteristic shown.Thus, the feature defining " first ", " second " etc. can be expressed Or implicitly include one or more this feature.In the description of the invention, unless otherwise Illustrating, " multiple " are meant that two or more.
In the description of the invention, it should be noted that unless otherwise clearly defined and limited, Term " is installed ", " being connected ", " connection " should be interpreted broadly, and connects for example, it may be fixing, Can also be to removably connect, or be integrally connected;Can be to be mechanically connected, it is also possible to be electrical connection; Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, can be the company of two element internals Logical.For the ordinary skill in the art, can understand that above-mentioned term is at this by concrete condition Concrete meaning in innovation and creation.
Below with reference to the accompanying drawings 1 and describe the invention in detail in conjunction with the embodiments.
A kind of mechanical arm device, wherein, including first variator the 10, first power transmission shaft 11, first Electric cylinder 13, location termination the 14, second variator 20, second driving shaft the 21, second electric cylinder 22, Installing plate 30, servo-actuated connecting plate 31 and vertical propelling movement platform 32;
One end of installing plate 30 be used for controlling termination, location, horizontal movement direction 14 being connected, installing plate 30 The other end be connected with servo-actuated and spacing servo-actuated connecting plate 31, the other end of described servo-actuated connecting plate 31 It is fixed on vertical propelling movement platform 32;
Termination 14, location is connected with providing the first electric cylinder 13 moving horizontally direction power, and first is electronic Cylinder 13 is connected with the first variator 10 and the first power transmission shaft 11;
The vertical bottom pushing platform 32 is connected with providing the second electric cylinder 22 vertically moving direction power, Second electric cylinder 22 is connected with the second variator 20 and second driving shaft 21.
Described tuning mouth 16 and servo-actuated connecting plate 31 are provided with pressure transducer.
The tool fixed mount 15 for installing auxiliary fixture it is additionally provided with on termination, described location 14.
Described tool fixed mount 15 is connected by chute with termination 14, location.
Described vertical propelling movement platform 32 is provided with the passage that material passes through, one end of described passage and feeding end Plate 33 connects, and the other end of described passage is connected with installing plate 30 by material strip.
It is additionally provided with tuning connecting plate 12 on described first variator 10.
The outside of described vertical propelling movement platform 32 is additionally provided with pan feeding end plate 33.
Also include control unit and memory element;
Described control unit signal is connected to the first electric cylinder 13 and the second electric cylinder 22 opens for controlling it Stop;
Described memory cell signal is connected to control unit and stores its location parameter and pressure parameter.
The foregoing is only the preferred embodiment of the invention, not in order to limit present invention wound Make, within all spirit in the invention and principle, any modification, equivalent substitution and improvement made Deng, within should be included in the protection domain of the invention.

Claims (7)

1. a mechanical arm device, it is characterised in that: include the first variator (10), the first transmission Axle (11), the first electric cylinder (13), location termination (14), the second variator (20), second driving shaft (21), Second electric cylinder (22), installing plate (30), servo-actuated connecting plate (31) and vertically push platform (32);
One end of installing plate (30) be used for controlling termination, location, horizontal movement direction (14) being connected, installing plate (30) the other end is connected with servo-actuated and spacing servo-actuated connecting plate (31), described servo-actuated connecting plate (31) The other end is fixed on and vertically pushes platform (32);
Termination, location (14) is connected with providing the first electric cylinder (13) moving horizontally direction power, the first electricity Dynamic cylinder (13) is connected with the first variator (10) and the first power transmission shaft (11);
The bottom vertically pushing platform (32) connects with providing the second electric cylinder (22) vertically moving direction power Connecing, the second electric cylinder (22) is connected with the second variator (20) and second driving shaft (21).
A kind of mechanical arm device the most according to claim 1, it is characterised in that: described tuning Mouth (16) and servo-actuated connecting plate (31) are provided with pressure transducer.
A kind of mechanical arm device the most according to claim 1, it is characterised in that: described location The tool fixed mount (15) for installing auxiliary fixture it is additionally provided with on termination (14).
A kind of mechanical arm device the most according to claim 3, it is characterised in that: described tool Fixed mount (15) is connected by chute with termination, location (14).
A kind of mechanical arm device the most according to claim 1, it is characterised in that: described vertically Pushing platform (32) and be provided with the passage that material passes through, one end of described passage is connected with pan feeding end plate (33), The other end of described passage is connected with installing plate (30) by material strip.
A kind of mechanical arm device the most according to claim 1, it is characterised in that: described first Tuning connecting plate (12) it is additionally provided with on variator (10).
A kind of mechanical arm device the most according to claim 1, it is characterised in that: also include control Unit processed and memory element;
Described control unit signal is connected to the first electric cylinder (13) and the second electric cylinder (22) is used for controlling Its start and stop;
Described memory cell signal is connected to control unit and stores its location parameter and pressure parameter.
CN201610471289.4A 2016-06-20 2016-06-20 Mechanical arm device Pending CN105922252A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610471289.4A CN105922252A (en) 2016-06-20 2016-06-20 Mechanical arm device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610471289.4A CN105922252A (en) 2016-06-20 2016-06-20 Mechanical arm device

Publications (1)

Publication Number Publication Date
CN105922252A true CN105922252A (en) 2016-09-07

Family

ID=56829057

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610471289.4A Pending CN105922252A (en) 2016-06-20 2016-06-20 Mechanical arm device

Country Status (1)

Country Link
CN (1) CN105922252A (en)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1363319A1 (en) * 1986-04-17 1987-12-30 Предприятие П/Я А-7651 Apparatus for straightening the stems of connector plugs
JPH08306317A (en) * 1995-05-10 1996-11-22 Sony Corp Automatic installing device of installing body and automatic installing method of installing body
CN201092007Y (en) * 2007-10-23 2008-07-30 王春耀 Feeding and unloading mechanism for grinding machine
CN102029330A (en) * 2010-11-30 2011-04-27 天津市津宝乐器有限公司 Automatic feeding device
CN202016083U (en) * 2010-12-09 2011-10-26 乐清市环龙机器厂 Minisize automatic smoothing mill
CN103861978A (en) * 2014-03-28 2014-06-18 苏州京机锻造装备科技有限公司 Wedge cross rolling mill with automatic workpiece feeding function
CN203728253U (en) * 2013-11-13 2014-07-23 上海和辉光电有限公司 Substrate position deviation adjusting device
CN204844427U (en) * 2015-07-22 2015-12-09 湖南中铁五新钢模有限责任公司 Curve prestressed concrete beam side form with synchronous guiding mechanism
CN105438821A (en) * 2015-12-11 2016-03-30 天津爱田汽车部件有限公司 Automobile part loading transportation arm

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1363319A1 (en) * 1986-04-17 1987-12-30 Предприятие П/Я А-7651 Apparatus for straightening the stems of connector plugs
JPH08306317A (en) * 1995-05-10 1996-11-22 Sony Corp Automatic installing device of installing body and automatic installing method of installing body
CN201092007Y (en) * 2007-10-23 2008-07-30 王春耀 Feeding and unloading mechanism for grinding machine
CN102029330A (en) * 2010-11-30 2011-04-27 天津市津宝乐器有限公司 Automatic feeding device
CN202016083U (en) * 2010-12-09 2011-10-26 乐清市环龙机器厂 Minisize automatic smoothing mill
CN203728253U (en) * 2013-11-13 2014-07-23 上海和辉光电有限公司 Substrate position deviation adjusting device
CN103861978A (en) * 2014-03-28 2014-06-18 苏州京机锻造装备科技有限公司 Wedge cross rolling mill with automatic workpiece feeding function
CN204844427U (en) * 2015-07-22 2015-12-09 湖南中铁五新钢模有限责任公司 Curve prestressed concrete beam side form with synchronous guiding mechanism
CN105438821A (en) * 2015-12-11 2016-03-30 天津爱田汽车部件有限公司 Automobile part loading transportation arm

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Application publication date: 20160907

RJ01 Rejection of invention patent application after publication